US4449884A - Universal robot - Google Patents

Universal robot Download PDF

Info

Publication number
US4449884A
US4449884A US06/305,853 US30585381A US4449884A US 4449884 A US4449884 A US 4449884A US 30585381 A US30585381 A US 30585381A US 4449884 A US4449884 A US 4449884A
Authority
US
United States
Prior art keywords
axis arm
slider
axis
sliding face
post
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
US06/305,853
Other languages
English (en)
Inventor
Kenro Motoda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Motoda Electronics Co Ltd
Original Assignee
Motoda Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Motoda Electronics Co Ltd filed Critical Motoda Electronics Co Ltd
Assigned to MOTODA DENSHI KOGYO KABUSHIKI KAISHA(MOTODA ELECTRONICS CO LTD reassignment MOTODA DENSHI KOGYO KABUSHIKI KAISHA(MOTODA ELECTRONICS CO LTD ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: MOTODA, KENRO
Application granted granted Critical
Publication of US4449884A publication Critical patent/US4449884A/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/005—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with balanced jib, e.g. pantograph arrangement, the jib being moved manually
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements

Definitions

  • This invention relates to a universal robot which is capable of carrying, by a single linear movement, a load to be moved in two-dimensional directions.
  • a conventional robot which moves a load by a hoist or crane means, carries the load by the movements of a slider adapted to move on an X-axis arm thereof in the horizontal direction and a Z-axis arm supported by the slider and adapted to move in the vertical direction.
  • two-steps of movements i.e., a movement of a slider in the horizontal (X-axis) direction and a movement of the Z-axis arm in the vertical (Z-axis) direction, are needed to move the load to a required position.
  • This requires a superfluous time as much to carry the load.
  • This superfluous time causes a serious loss of time when a large amount of articles are carried.
  • the curtailment of the carriage time has been an argent task to be achieved.
  • the two-step movements by the robot for carrying the load require two-axis control, i.e., control for the movement of the slider and for the movement of the Z-axis arm.
  • errors inherent in the movements of the slider and the Z-axis arm are accumulated and appear as an error of the carriage terminal point. Therefore, even when each of the errors in movements is small, the accumulated errors in the movements will possibly exceed an allowance and proper automatic carriage will be prevented when a large amount of loads are carried.
  • the present invention has been made with a view to solving these problems, and it is an object of the present invention to provide a universal robot wherein an X-axis arm and a Z-axis arm are made rotatable and a support member for the arm is made movable in the vertical direction to perform, by one-step linear movement, the load carriage which otherwise requires two-dimensional movements, so as to curtail a time required for the load carriage, simplify the structure and operation of a control system, reduce an error in carriage due to errors in the movements and to broaden the working range in the height (Z-axis) direction.
  • a universal robot wherein an X-axis arm is mounted on a support means provided on a post and a Z-axis arm is mounted on a slider slidable on the X-axis arm in the longitudinal direction thereof, which robot is characterized in that said X-axis arm is mounted on said support member through a rotating mechanism which is rotatable into and lockable in a desired position, said Z-axis arm is mounted on said slider through a rotating mechanism which is rotatable into and lockable in a desired position, and said support member is mounted on said post movably in the vertical direction.
  • FIG. 1 is a front view of a first form of a universal robot embodying the present invention
  • FIG. 2 is a side elevational view of the robot illustrated in FIG. 1;
  • FIG. 3 is an enlarged sectional view of an X-axis supporting portion
  • FIG. 4 is an enlarged sectional view of a Z-axis supporting portion
  • FIG. 5 is an explanatory view illustrating an operation mode of the robot illustrated in FIG. 1;
  • FIG. 6 is a front view of a second form of a universal robot embodying the present invention.
  • FIG. 7 is a diagram showing the transportation step of the universal robot according to the present invention and the transportation steps of a conventional robot.
  • a support member 2 is so mounted on the post 1 as to be movable up and down relative to the post 1.
  • the support member 2 may manually be moved upwardly or downwardly after the support member 2 has been loosened from the post 1 by loosening a bolt, or may automatically be moved in the vertical direction and stopped by a driving means such as a rack-pinion mechanism coupled to a motor.
  • FIG. 3 is an X-axis arm made of a light-weight material and extending laterally, and this X-axis arm is rotatably fitted, at an intermediate portion between the ends thereof, to the support member 2 through a rotating mechanism 4 for the X-axis arm.
  • the rotating mechanism 4 for the X-axis arm is comprised, as illustrated in FIG. 3, a part of the support member 2 and a rotating member 41. An end of this rotating member 41 is fixed to the X-axis arm 3, while another end of the rotating member 41 has a sliding face 42 which is in contact with a sliding face of the support member 2 through a bearing 43 so as to slide and rotate relative to each other.
  • the sliding face 42 is normally locked to the support member 2 by a bolt 44 to prevent the relative rotation between the sliding faces.
  • a slot formed on the support member 2 for receiving the bolt is not shown in the drawings but it is formed in an elongated shape.
  • the rotating member 41 may be rotated when the bolt 44 is loosened, to rotate the X-axis arm to a desired angular position as shown by a phantom line in FIG. 1.
  • 5 is a slider which is mounted on the X-axis arm 3 so as to be moved along guide rails 31 of the X-axis arm 3 by a rope or the like.
  • 6 is a Z-axis arm which is made of a light-weight material and extends normally in the vertical direction.
  • the Z-axis arm 6 is rotatably and slidably mounted on the slider 5 through a rotating mechanism 7 for the Z-axis arm.
  • the rotating mechanism 7 for the Z-axis arm is formed of a part of the slider 5 and a rotating member 71 as illustrated in FIG. 4.
  • one end of the rotating member 71 is fixed to the slider 5, while another end thereof has a sliding face 72 which slidably contacts a sliding face 51 of the slider 5 through a bearing 73 so as to rotate relative to each other, but which is normally locked to the slider 5 by a bolt 74 to prevent the relative rotation therebetween.
  • the Z-axis arm 6, therefore, may be rotated into and locked in a desired angular position in the same manner as of the X-axis arm 3.
  • the Z-axis arm 6 is held by the rotating member 71 slidably in the vertical direction.
  • the Z-axis arm 6 may be slidingly displaced automatically by a driving means such as a rack-pinion mechanism connected to a motor or may be displaced manually.
  • the Z-axis arm 6 has, at a lower end thereof, a load holding member 8.
  • the 10 is a truck for supporting the whole robot.
  • the post 1 is fixedly mounted on the truck, and the truck can be moved by wheels 11 and locked by anchors 12. With this arrangement, the robot of the present invention can be moved to a desired place to enhance its usefulness.
  • the post 1 may alternatively be fixed on the floor.
  • a fluid cylinder or an automatic means adapted to be operated by an electric motor etc.
  • the bearings 43, 73 may be omitted from the sliding faces 42, 72 of the rotating mechanisms 4, 7, respectively.
  • the robot is first adjusted before the carriage or transportation of a load. More specifically, the X-axis arm 3 is rotated by the rotating mechanism 4 by such an angle that the difference in height between a start point on the X-axis arm 3 for the transportation of the load and an end point on the X-axis arm 3 for the transportation may be equal to the difference in height between a load feeding position and a load deposition position.
  • the Z-axis arm 6 which is normally held at an angle of 90° to the X-axis arm 3 is tilted by an angle corresponding to the rotation angle of the X-axis arm 3.
  • the load carriage by the so adjusted robot can be effected by a single step in which the load is linearly moved from the transportation starting point (the load feeding position) A (or B) and the transportation ending point (the load depositing position) B (or A) as illustrated in FIG. 7. More specifically, the transportation can be carried out by a single linear run of the slider 5, which holds the Z-axis arm 6, between A and B.
  • the load there is now no need to move the load, as in a conventional robot, separately by the slider 5 and by the Z-axis arm 6 by a distance corresponding to the difference (A-C) in height between the load feeding position A and the load depositing position B and by a distance (B-C) therebetween, respectively.
  • the robot of the present invention may also be operated in a manner as illustrated in FIG. 5.
  • the X-axis arm 3 is tilted by an angle suited to the inclination of the table 81 and the Z-axis arm 6 is held at an angle of 90° to the X-axis arm 3.
  • the load transportation from the starting point to the ending point between which there is a difference in height can be carried out by a single uniaxial movement on the inclined X-axis arm 3, and, since the Z-axis arm 6 is held at a perpendicular position to the inclined table 81, the load 81 can be deposited onto the inclined face by a simple, single operation.
  • the transportation conditions involve an angle as well as a difference in height
  • only the X-axis arm 3 may be rotated to transform the coordinates so as to easily carry out the operation which would otherwise require complicated steps.
  • FIG. 6 illustrates a second embodiment of the present invention, wherein two posts 1 are provided to prevent the robot from being unbalanced when the X-axis arm 3 is long or a heavy, bulky load is to be transported and to keep the robot stable.
  • two support members 2 movable in the vertical direction are each mounted on the respective posts 1, and a support rod 20 is provided between the support members 2, and a part of the support rod 20 and a rotating member 41 comprise a rotating mechanism 4 similar to the rotating mechanism of the first embodiment.
  • An X-axis arm 3 mounted on the support rod 20 through the rotating mechanism 4, a slider 5 and a Z-axis arm 6 are all formed identically with those of the first embodiment.
  • 30 is a base for supporting the two posts 2. Although the base illustrated in connection with the second embodiment is not movable, the base may be a truck supporting plural posts which is movable and lockable as the truck of the first embodiment.
  • the robot of the present invention can carry out the transportation of a load by a single step in which the Z-axis arm is linearly moved on the X-axis arm through the slider, after the preliminary adjustment of the angles of the X-axis arm and the Z-axis arm according to the distance and adjustment of the height of the X-axis arm.
  • the transportation time can be curtailed as compared with the conventional robot which needs two steps of linear movements, i.e., movement in the vertical (Z-axis) direction and movement in the horizontal (X-axis) direction.
  • the control axis of the control system can be reduced to one. Therefore, not only the control system can be simplified and improved in accuracy, but a driving means for the rope or cylinder may be omitted as the case may be because the automatic movement of the Z-axis arm is not always needed.
  • the universal robot of the present invention has not only the effects that the transportation is sped-up and made more accurate and the control system is simplified and improved in accuracy, but the effect that the working space or range is broadened. More specifically, the maximum difference in height between the load feeding position and the load depositing position which has heretofore been limited within the movable range of the Z-axis arm, can be increased at least to the length of the post, and the difference in height of the load feeding and depositing positions can be even larger than the height of the post when the support member is fixed at a top portion of the post and the X-axis arm is rotated and inclined. Thus, the working space can be widened very much and the utility of the robot can remarkably be broadened.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
US06/305,853 1980-11-25 1981-09-25 Universal robot Expired - Fee Related US4449884A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP55-165653 1980-11-25
JP55165653A JPS5789586A (en) 1980-11-25 1980-11-25 Universal robot

Publications (1)

Publication Number Publication Date
US4449884A true US4449884A (en) 1984-05-22

Family

ID=15816436

Family Applications (1)

Application Number Title Priority Date Filing Date
US06/305,853 Expired - Fee Related US4449884A (en) 1980-11-25 1981-09-25 Universal robot

Country Status (6)

Country Link
US (1) US4449884A (enrdf_load_html_response)
JP (1) JPS5789586A (enrdf_load_html_response)
DE (1) DE3139490A1 (enrdf_load_html_response)
FR (1) FR2494617B1 (enrdf_load_html_response)
GB (1) GB2087836B (enrdf_load_html_response)
SE (1) SE453736B (enrdf_load_html_response)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4529064A (en) * 1984-08-06 1985-07-16 Andrea Jr Rocco A D Gravity crane
US4652204A (en) * 1985-08-02 1987-03-24 Arnett Edward M Apparatus for handling hazardous materials
DE3704952A1 (de) * 1987-02-17 1988-08-25 Fraunhofer Ges Forschung Industrieroboter zum bearbeiten und/oder handhaben insbesondere montieren von gegenstaenden
US5224809A (en) * 1985-01-22 1993-07-06 Applied Materials, Inc. Semiconductor processing system with robotic autoloader and load lock
US5280983A (en) * 1985-01-22 1994-01-25 Applied Materials, Inc. Semiconductor processing system with robotic autoloader and load lock
US5355063A (en) * 1990-11-01 1994-10-11 Westinghouse Electric Corp. Robotic system for servicing the heat exchanger tubes of a nuclear steam generator
US6009916A (en) * 1996-12-12 2000-01-04 Lindauer Dornier Gesellschaft Mbh Mounting and positioning apparatus for a leno selvage former
US6281474B1 (en) * 1999-08-17 2001-08-28 Motoman, Inc. X-beam positioner
WO2005015245A3 (en) * 2003-08-06 2005-03-24 Intest Ip Corp Test head positioning system
US6910847B1 (en) * 2002-07-19 2005-06-28 Nanometrics Incorporated Precision polar coordinate stage
US20120207570A1 (en) * 2011-02-15 2012-08-16 Atomic Energy Council-Institute Of Nuclear Energy Research Automatic Apparatus for Feeding and Measuring Radioactive Medicine
CN102892558A (zh) * 2010-05-13 2013-01-23 英派克埃彼有限公司 具有可调节的平移轴线倾斜度的生物产品容器的输送设备
CN105173800A (zh) * 2015-08-31 2015-12-23 臻雅科技温州有限公司 一种皮革自动化分离装置

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4536690A (en) * 1982-10-19 1985-08-20 Calspan Corporation Tool-supporting self-propelled robot platform
RU2176950C2 (ru) * 1999-10-15 2001-12-20 Государственный научно-производственный ракетно-космический центр "ЦСКБ-Прогресс" Манипулятор
WO2008090559A1 (en) * 2007-01-26 2008-07-31 Camtek Ltd. Method and system for supporting a moving optical component on a sloped portion
CN111512944B (zh) * 2020-04-29 2021-12-17 成都市农林科学院 适合于水培苗的移栽机器人

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2000054A (en) * 1931-09-24 1935-05-07 Francis H Weeks Stevedoring apparatus
US2548650A (en) * 1946-10-02 1951-04-10 Robert J Brandt Adjustable clamp for light shields
US2733035A (en) * 1956-01-31 Fine adjustments for dial indicators
US3984009A (en) * 1975-12-24 1976-10-05 General Motors Corporation Article gripper mounting device
US4061062A (en) * 1976-01-29 1977-12-06 Moteurs Leroy-Somer Method and a device for the automatic replacement of a workpiece to be machined on a machine-tool
US4144973A (en) * 1977-02-02 1979-03-20 Salvatore Reale Combination hoist and mount

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3306442A (en) * 1964-11-02 1967-02-28 George C Devol Multi-program apparatus
DE2301423C3 (de) * 1973-01-12 1978-09-28 Fibro Gmbh, 7102 Weinsberg Handhabungsgerät
FR2256804A1 (en) * 1974-01-08 1975-08-01 Sueur Serge Universal robot for machine feed - uses bar hinged to vert and horiz slides to give curved movement
DD124902A1 (enrdf_load_html_response) * 1975-12-30 1977-03-23
DE2602622A1 (de) * 1976-01-24 1977-07-28 Kaspar Klaus Vorrichtung zum transport von glasplatten
JPS52147865A (en) * 1976-06-04 1977-12-08 Toshiba Corp Working unit for simple type robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2733035A (en) * 1956-01-31 Fine adjustments for dial indicators
US2000054A (en) * 1931-09-24 1935-05-07 Francis H Weeks Stevedoring apparatus
US2548650A (en) * 1946-10-02 1951-04-10 Robert J Brandt Adjustable clamp for light shields
US3984009A (en) * 1975-12-24 1976-10-05 General Motors Corporation Article gripper mounting device
US4061062A (en) * 1976-01-29 1977-12-06 Moteurs Leroy-Somer Method and a device for the automatic replacement of a workpiece to be machined on a machine-tool
US4144973A (en) * 1977-02-02 1979-03-20 Salvatore Reale Combination hoist and mount

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4529064A (en) * 1984-08-06 1985-07-16 Andrea Jr Rocco A D Gravity crane
US5224809A (en) * 1985-01-22 1993-07-06 Applied Materials, Inc. Semiconductor processing system with robotic autoloader and load lock
US5280983A (en) * 1985-01-22 1994-01-25 Applied Materials, Inc. Semiconductor processing system with robotic autoloader and load lock
US4652204A (en) * 1985-08-02 1987-03-24 Arnett Edward M Apparatus for handling hazardous materials
DE3704952A1 (de) * 1987-02-17 1988-08-25 Fraunhofer Ges Forschung Industrieroboter zum bearbeiten und/oder handhaben insbesondere montieren von gegenstaenden
US5355063A (en) * 1990-11-01 1994-10-11 Westinghouse Electric Corp. Robotic system for servicing the heat exchanger tubes of a nuclear steam generator
US6009916A (en) * 1996-12-12 2000-01-04 Lindauer Dornier Gesellschaft Mbh Mounting and positioning apparatus for a leno selvage former
US6281474B1 (en) * 1999-08-17 2001-08-28 Motoman, Inc. X-beam positioner
US6910847B1 (en) * 2002-07-19 2005-06-28 Nanometrics Incorporated Precision polar coordinate stage
WO2005015245A3 (en) * 2003-08-06 2005-03-24 Intest Ip Corp Test head positioning system
US20060177298A1 (en) * 2003-08-06 2006-08-10 Christian Mueller Test head positioning system
US8141834B2 (en) 2003-08-06 2012-03-27 Intest Corporation Test head positioning system
CN102892558A (zh) * 2010-05-13 2013-01-23 英派克埃彼有限公司 具有可调节的平移轴线倾斜度的生物产品容器的输送设备
US20130058752A1 (en) * 2010-05-13 2013-03-07 Gianandrea Pedrazzini Equipment for transferring biological product containers with adjustable inclination of its translation axis
US8678738B2 (en) * 2010-05-13 2014-03-25 Inpeco Holding Ltd Equipment for transferring biological product containers with adjustable inclination of its translation axis
CN102892558B (zh) * 2010-05-13 2015-10-14 英派克控股有限公司 具有可调节的平移轴线倾斜度的生物产品容器的输送设备
US20120207570A1 (en) * 2011-02-15 2012-08-16 Atomic Energy Council-Institute Of Nuclear Energy Research Automatic Apparatus for Feeding and Measuring Radioactive Medicine
CN105173800A (zh) * 2015-08-31 2015-12-23 臻雅科技温州有限公司 一种皮革自动化分离装置
CN105173800B (zh) * 2015-08-31 2017-03-08 温州城电智能科技有限公司 一种皮革自动化分离装置

Also Published As

Publication number Publication date
DE3139490A1 (de) 1982-07-01
GB2087836A (en) 1982-06-03
FR2494617B1 (fr) 1985-06-28
SE8106531L (sv) 1982-05-26
FR2494617A1 (fr) 1982-05-28
GB2087836B (en) 1984-08-15
SE453736B (sv) 1988-02-29
JPS5789586A (en) 1982-06-03
JPS6260227B2 (enrdf_load_html_response) 1987-12-15

Similar Documents

Publication Publication Date Title
US4449884A (en) Universal robot
US5697757A (en) Counter-balanced load carriers
EP0342267B1 (de) Koordinatenmessgerät
EP0725758B1 (en) Counter-balanced load carriers
CA1274808A (en) Transport for heavy loads
GB1501300A (en) Materials storage apparatus
WO1990009335A1 (en) Load lift truck
EP4411794A1 (en) Falling prevention device and air transport vehicle
US5344276A (en) Stationary positioning device for a handling trolley having extendable centering finger assembly
US6085432A (en) Positioning device
CN214532060U (zh) 一种建筑结构设计梁加固结构
CN221791408U (zh) 一种钢构件坡口切割设备
CN115749322B (zh) 一种用于倾斜巨柱运输安装的轨道式调节装置
CN114348912A (zh) 卫星侧板安装装置
US4441838A (en) Element for tunnel-type metal shuttering
US4437808A (en) Apparatus for causing a unit guided on rectilinear rails to move gradually and a forklift equipped with such a unit
JPH084211Y2 (ja) ボックス構造物の組立て装置
CN222497460U (zh) 一种智能化指引式防呆防错取料平台
CN220388430U (zh) 一种多功能钢结构焊接平台
CN222361631U (zh) 一种用于仓储物流的码垛输送装置
CN113799080B (zh) 一种调平装置、系统及方法
CN220427278U (zh) 一种十字焊接操作设备
CN218465360U (zh) 多自由度定位的吊装平台
CN221499877U (zh) 一种便捷式原料加料装置
CN216512668U (zh) 一种可调节水平的下横梁机构及堆垛机

Legal Events

Date Code Title Description
AS Assignment

Owner name: MOTODA DENSHI KOGYO KABUSHIKI KAISHA(MOTODA ELECTR

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:MOTODA, KENRO;REEL/FRAME:003951/0186

Effective date: 19810911

Owner name: MOTODA DENSHI KOGYO KABUSHIKI KAISHA(MOTODA ELECTR

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:MOTODA, KENRO;REEL/FRAME:003951/0186

Effective date: 19810911

FPAY Fee payment

Year of fee payment: 4

REMI Maintenance fee reminder mailed
REMI Maintenance fee reminder mailed
REMI Maintenance fee reminder mailed
LAPS Lapse for failure to pay maintenance fees
FP Lapsed due to failure to pay maintenance fee

Effective date: 19920524

STCH Information on status: patent discontinuation

Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362